Great project and write up! I have started building a 2 wheel version using the arduino minipro, H bridge and 6050. The motors start turning when the bot is upright so I have something mounted wrong.These are the 6050 values I get when bot is upright , using this code: accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); 484ax -16888ay -1644az -410gx -155gy -254gz I disabled the lines using 'top motor and motor2'. Question: how did you mount the 6050? My 6050 is perpendicular to the axis of rotation of the wheels, whith Y pointing down when the bot is upright. Thanks.

Thank you very much Arkadi!!Your project helped my long time dream come true. I have been able to build a SBR using the info you have given here.I still need to do fine tuning. Will post the video soon I am done.